Construction of Dynamically Equivalent Time-Invariant Forms for Time-Periodic Systems

In this study dynamically equivalent time-invariant forms are obtained for linear and non-linear systems with periodically varying coefficients via Lyapunov–Floquet (L–F) transformation. These forms are equivalent in the sense that the local stability and bifurcation characteristics are identical for both systems in the entire parameter space. It is well known that the L–F transformation converts a linear periodic first order system into a time-invariant one. In the first part of this study a set of linear second order periodic equations is converted into an equivalent set of time-independent second order equations through a sequence of linear transformations. Then the transformations are applied to a time-periodic quadratic Hamiltonian to obtain its equivalent time-invariant form. In the second part, time-invariant forms of nonlinear equations are studied. The application of L–F transformation to a quasi-linear periodic equation converts the linear part to a time-invariant form and leaves the non-linear part with time-periodic coefficients. Dynamically equivalent time-invariant forms are obtained via time-periodic center manifold reduction and time-dependent normal form theory. Such forms are constructed for general hyperbolic systems and for some simple critical cases, including that of one zero eigenvalue and a purely imaginary pair. As a physical example of these techniques, a single and a double inverted pendulum subjected to periodic parametric excitation are considered. The results thus obtained are verified by numerical simulation.     

Zero-Hopf singularity in bidirectional ring network model with delay

This paper reports a bidirectional ring network model with delay. Zero-Hopf bifurcation is studied by using the center manifold reduction and the normal form method for retarded functional differential equation. We get the versal unfolding of the norm forms at the zero-Hopf singularity and show that the model can exhibit pitchfork and Hopf bifurcation. Some numerical simulations are given to support the analytic results, and near the zero-Hopf singularity point, this model displays quasi-periodic, double periodic and multiple periodic trajectory.     

Analysis of time-periodic nonlinear dynamical systems undergoing bifurcations

In this study a new procedure for analysis of nonlinear dynamical systems with periodically varying parameters under critical conditions is presented through an application of the Liapunov-Floquet (L-F) transformation. The L-F transformation is obtained by computing the state transition matrix associated with the linear part of the problem. The elements of the state transition matrix are expressed in terms of Chebyshev polynomials in timet which is suitable for algebraic manipulations. Application of Floquet theory and the eigen-analysis of the state transition matrix at the end of one principal period provides the L-F transformation matrix in terms of the Chebyshev polynomials. Since this is a periodic matrix, the L-F transformation matrix has a Fourier representation. It is well known that such a transformation converts a linear periodic system into a linear time-invariant one. When applied to quasi-linear equations with periodic coefficients, a dynamically similar system is obtained whose linear part is time-invariant and the nonlinear part consists of coefficients which are periodic. Due to this property of the L-F transformation, a periodic orbit in original coordinates will have a fixed point representation in the transformed coordinates. In this study, the bifurcation analysis of the transformed equations, obtained after the application of the L-F transformation, is conducted by employingtime-dependent center manifold reduction andtime-dependent normal form theory. The above procedures are analogous to existing methods that are employed in the study of bifurcations of autonomous systems. For the two physical examples considered, the three generic codimension one bifurcations namely, Hopf, flip and fold bifurcations are analyzed. In the first example, the primary bifurcations of a parametrically excited single degree of freedom pendulum is studied. As a second example, a double inverted pendulum subjected to a periodic loading which undergoes Hopf or flip bifurcation is analyzed. The methodology is semi-analytic in nature and provides quantitative measure of stability when compared to point mappings method. Furthermore, the technique is applicable also to those systems where the periodic term of the linear part does not contain a small parameter which is certainly not the case with perturbation or averaging methods. The conclusions of the study are substantiated by numerical simulations. It is believed that analysis of this nature has been reported for the first time for this class of systems.     

A direct analysis of nonlinear systems with external periodic excitations via normal forms

This study presents a direct methodology for a quantitative analysis of nonlinear dynamic systems with external periodic forcing via an application of the theory of normal forms. Rather than introducing a new state variable to reduce the problem to a homogeneous one, a set of time-dependant near-identity transformations is applied to construct the normal forms. In the process, the total response of the system is expressed as superposition of a steady state solution and a transient solution. A steady state solution of the system is obtained by the method of harmonic balance and the transient solution is obtained by solving a set of time periodic homological equations. The proposed method can be applied to time-invariant as well as time varying systems. After discussing the time-invariant case, the methodology is extended to systems with time-periodic coefficients. The case of time periodic systems is handled through an application of the Lyapunov–Floquet (L–F) transformation. Application of the L–F transformation produces a dynamically equivalent system in which the linear part of the system is time-invariant, making the system amenable to near-identity transformations. An example for each type of system, namely, constant coefficients and time-varying coefficients, is included to demonstrate effectiveness of the method. Various resonance conditions are discussed. It is observed that the linear parametric excitation term need not be small as generally assumed in perturbation and averaging techniques. Results obtained by proposed methods are compared with numerical solutions. Close agreements are found in some typical applications.     

Control of planar Bautin bifurcation

Nonlinear Dynamics - On a versal deformation of the Bautin bifurcation it is possible to find dynamical systems that undergo Hopf or non-hyperbolic limit cycle bifurcations. Our paper concerns a...     

Normal Forms and the Structure of Resonance Sets in Nonlinear Time-Periodic Systems

The structure of time-dependent resonances arising in themethod of time-dependent normal forms (TDNF) for one andtwo-degrees-of-freedom nonlinear systems with time-periodic coefficientsis investigated. For this purpose, the Liapunov–Floquet (L–F)transformation is employed to transform the periodic variationalequations into an equivalent form in which the linear system matrix istime-invariant. Both quadratic and cubic nonlinearities are investigatedand the associated normal forms are presented. Also, higher-orderresonances for the single-degree-of-freedom case are discussed. It isdemonstrated that resonances occur when the values of the Floquet multipliers result in MT-periodic (M = 1, 2,...) solutions. The discussion is limited to the Hamiltonian case (which encompasses allpossible resonances for one-degree-of-freedom). Furthermore, it is alsoshown how a recent symbolic algorithm for computing stability andbifurcation boundaries for time-periodic systems may also be employed tocompute the time-dependent resonance sets of zero measure in theparameter space. Unlike classical asymptotic techniques, this method isfree from any small parameter restriction on the time-periodic term inthe computation of the resonance sets. Two illustrative examples (oneand two-degrees-of-freedom) are included.     

悬臂输流管道的运动分岔现象和混沌运动

研究受约束悬臂输流管道的稳定性和运动分岔问题.在静态与动态失稳区域边界上的一个交叉点附近,用理论分析的方法详细研究了该系统可能发生的复杂运动和运动分岔现象.在动态失稳区域内发现了输流管道的概周期运动和由于概周期运动环面破裂而导致混沌的现象.理论分析结果与数值模拟结果相吻合.     

Parametric excitation in non-linear dynamics

Consider a one-mass system with two degrees of freedom, non-linearly coupled, with parametric excitation in one direction. Assuming the internal resonance 1:2 and parametric resonance 1:2 we derive conditions for stability of the trivial solution by using both the harmonic balance method and the normal form method of averaging. If the trivial solution becomes unstable, a stable periodic solution may emerge, there are also cases where the trivial solution is stable and co-exists with a stable periodic solution; if both the trivial solution and the periodic solution(s) are unstable, we find an attracting torus with large amplitudes by a Neimark-Sacker bifurcation. The results of the harmonic balance method and averaging are compared, as well as the results on the Neimark-Sacker bifurcation obtained by the numerical software package CONTENT and by averaging. In all cases we have good agreement.     

Nonlinear Random Response of Ocean Structures Using First- and Second-Order Stochastic Averaging

This paper deals with the dynamic response of nonlinear elastic structure subjected to random hydrodynamic forces and parametric excitation using a first- and second-order stochastic averaging method. The governing equation of motion is derived by using Hamilton's principle, taking into account inertia and curvature nonlinearities and work done due to hydrodynamic forces. Within the framework of first-order stochastic averaging, the system response statistics and stability boundaries are obtained. Unfortunately, the effects of nonlinear inertia and curvature are not reflected in the final results, since the contribution of these nonlinearities is lost during the averaging process. In the absence of hydrodynamic forces, the method fails to give bounded response statistics, and the analysis yields stability conditions. It is the second-order stochastic averaging which can capture the influence of stiffness and inertia nonlinearities that were lost in the first-order averaging process. The results of the second-order averaging are compared with those predicted by Gaussian and non-Gaussian closures and by Monte Carlo simulation. In the absence of parametric excitation, the non-Gaussian closure solutions are in good agreement with Monte Carlo simulation. On the other hand, in the absence of hydrodynamic forces, second-order averaging gives more reliable results in the neighborhood of stochastic bifurcation. However, under pure parametric random excitation, the stochastic averaging and Monte Carlo simulation predict the on-off intermittency phenomenon near bifurcation point, in addition to stochastic bifurcation in probability.     

Bifurcation analysis of the motion of an asymmetric double pendulum subjected to a follower force: Codimension three problem

Local and global bifurcations in the motion of a double pendulum subjected to a follower force have been studied when the follower force and the springs at the joints have structural asymmetries. The bifurcations of the system are examined in the neighborhood of double zero eigenvalues. Applying the center manifold and the normal form theorem to a four-dimensional governing equation, we finally obtain a two-dimensional equation with three unfolding parameters. The local bifurcation boundaries can be obtained for the criteria for the pitchfork and the Hopf bifurcation. The Melnikov theorem is used to find the global bifurcation boundaries for appearance of a homoclinic orbit and coalescence of two limit cycles. Numerical simulation was performed using the original four-dimensional equation to confirm the analytical prediction.     

Singularity Analysis on a Planar System with Multiple Delays

A planar model with multiple delays is studied. The singularities of the model and the corresponding bifurcations are investigated by using the standard dynamical results, center manifold theory and normal form method of retarded functional differential equations. It is shown that Bogdanov–Takens (BT) singularity for any time delays, and a serious of pitchfork and Hopf bifurcation can co-existent. The versal unfoldings of the normal forms at the BT singularity and the singularity of a pure imaginary and a zero eigenvalue are given, respectively. Numerical simulations have been provided to illustrate the theoretical predictions.     

Normal Forms for High Co-Dimension Bifurcations of Nonlinear Time-Periodic Systems with Nonsemisimple Eigenvalues

The normal forms for time-periodic nonlinear variational equations witharbitrary linear Jordan form undergoing bifurcations of highco-dimension are found. First, the equations are transformed via theLyapunov–Floquet (L–F) transformation into an equivalent form in whichthe linear matrix is constant with degenerate nonsemisimple lineareigenvalues while the nonlinear monomials have periodic coefficients. Byconsidering the resulting coupling of the bases of the near identitytransformation, the solvability condition for an arbitrary Jordan matrixis then derived. It is shown that time-independent and/or time-dependentnonlinear resonance terms remain in the normal form for various Jordanmatrices. Specifically, the normal forms for quadratic and cubicnonlinearities with the following linear Jordan forms are explicitlyderived: double zero eigenvalues (co-dimension two bifurcation), triplezero eigenvalues (co-dimension three bifurcation), and two repeatedpairs of purely imaginary eigenvalues (co-dimension two bifurcation). Acommutative system with cubic nonlinearities and a double inverted pendulum with a periodicfollower force are used as illustrative examples.     

Zero–Hopf bifurcation in a hyperchaotic Lorenz system

We characterize the zero–Hopf bifurcation at the singular points of a parameter codimension four hyperchaotic Lorenz system. Using averaging theory, we find sufficient conditions so that at the bifurcation points two periodic solutions emerge and describe the stability of these orbits.     

Non-resonant response, bifurcation and oscillation suppression of a non-autonomous system with delayed position feedback control

The maglev system with delayed position feedback control is excitated by the deflection of flexible guideway and resonant response may take place. This paper concerns the non-resonant response of the system by employing centre manifold reduction and method of multiple time scales. The dynamical model is presented and expanded to the third-order Taylor series. Taking time delay as its bifurcation parameter, the condition with which the Hopf bifurcation may occur is investigated. Centre manifold reduction is applied to get the Poincaré normal form of the nonlinear system so that we can study the relationship between periodic solution and system parameter. At first, the non-resonant periodic solution of the normal form is calculated based on the method of multiple time scales. Then the bifurcation condition of the free oscillation in the solution is analyzed, and we get the conditions with which the free oscillation has maximum and minimum values. The relationship between external excitation and the periodic solution is also discussed in this paper. Finally, numerical simulation results show how system and excitation parameters affect the system response. It is shown that the existence of the free oscillation and the amplitude of the forced oscillation can be determined by time delay and control parameters. So felicitously selecting them can suppress the oscillation effectively.     

Imperfection sensitivity of hilltop branching points of systems with dihedral group symmetry

Imperfection sensitivity of a hilltop branching point occurring as a coincidence of a limit point and a double bifurcation point of a finite-dimensional, elastic, conservative system equivariant to the dihedral group is investigated. In the neighborhood of this point, the potential is expanded into a power series of independent state variables, loading parameter and imperfection magnitude. The form of the expansion is determined through exploitation of dihedral-group symmetry. For the perfect system, the hilltop branching point and bifurcated paths are shown to be all unstable. For an imperfect system, equilibrium paths in general break into a series of paths: including fundamental, complementary and aloof paths. The imperfection sensitivity laws for maximum (critical) points of loading on these paths are obtained as a novel finding of this paper. Critical points on the fundamental and complementary paths enjoy a piecewise linear law, which is less severe than a one-half or two-thirds power law for the double bifurcation point. By contrast, maximum points on aloof paths suffer more severe sensitivity. The hilltop branching point thus displays complex system of imperfection sensitivities. As numerical examples, imperfection sensitivity of simple structural models with the hilltop point is investigated to ensure the validity of the present formulation.     

随机平均规范形方法

计算随机规范形系数是应用随机规范形方法的关键．提出一种应用随机平均计算随机规范形系数的方法．为了说明方法的有效性,对白噪声激励的Duffing系统,经过变换,对于相应的平均方程,比较了精确解、规范形方法解和能量包络方法解的稳态概率密度,结果表明,当非线性项系数较小时,三者完全一致．当非线性项系数较大时,规范形方法所得解与精确解相差不大．     

Bifurcations in a parametrically excited non-linear oscillator

A non-linear parametrically excited oscillator, that includes van der Pol as well as Duffing type non-linearities, is studied for its small non-linear motions using the method of averaging. The averaged equations, which form a dynamical system on the plane and depend on the linear damping and the detuning, are analyzed for their constant and periodic solutions. Bendixon's criterion is used to deduce the existence and the non-existence of limit cycle solutions for various values of the parameters. Then, using local bifurcation theory for “saddle-node”, pitchfork and “Hopf” bifurcations and some results from one and two parameter unfoldings of degenerate singularities, a partial bifurcation set is constructed. Since constant and periodic solutions of the averaged system correspond, respectively, to the periodic solutions and almost periodic or amplitude modulated motions of the original oscillator, the bifurcation set indicates some ways in which periodic solutions can become “entrained” or can break the entrainment for almost periodic oscillations.     

范式理论与平均法的等价性分析

分析了范式理论与平均法的等价性。得到的结论是：对含有一对纯虚根的二维非线性系统，使用两种方法得到的结果是等价的，并提供了两个算例来证实其结论的正确性。虽然分析是针对一类二维非线性系统，但其结论同样适合于高维非线性系统。     

Hopf分岔的代数判据及其在车辆动力学中的应用

利用Hurwitz行列式,给出平衡点失稳而发生Hopf分岔的代数判定准则和计算方法,这一方法将Hopf分岔点的求解转化为一个非线性方程的求解问题,从而克服了以前方法在计算Hopf分岔点时,对于参数的每一次变化通过求特征根并判定特征根的实部是否为零的庞大工作量。应用这一方法,我们进行了非线性车辆系统蛇行运动稳定性的研究,得到了轮对系统发生蛇行运动的临界速度的解析表达式。     

有限宽轴承-转子系统非线性行为研究

利用平均本征值法求得有限宽轴承的油膜力．以刚性Jeffcott转子为研究对象，借助数值积分并结合Poincare映射研究了轴承-转子系统的非线性动力学行为．所得结果为平均本征值法用于同类型的工程实际问题打下了一定的基础．